Geometrical distortion integrated performance index for vision-based navigation system

  • Dae Hee Won
  • Sebum Chun
  • Seung-Woo Lee
  • Sangkyung Sung
  • Jiyun Lee
  • Jeongrae Kim
  • Young Jae Lee
Control Applications

Abstract

This paper proposes weighted dilution of precision (WDOP) as an indicator of the accuracy of position and attitude in vision-based navigation. WDOP accurately represents the tendencies of navigational errors. It is obtained by weighted least squares. The weight is determined by the deployment of feature points and the geometrical distortion of the vision sensor. The performance of WDOP was verified by simulation. The values of the dilution of precision (DOP) and WDOP were computed and analyzed by comparison with the navigational errors. Additionally, a correlation test was used to determine how well they reflect the trends of the navigational errors. Simulation results showed that WDOP was strongly correlated with navigational errors, which makes it a parameter that can be used to determine the quality of a vision-based navigation system. The proposed WDOP can be used as a practical indicator of navigation performance.

Keywords

Distortion DOP navigation vision weight 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Dae Hee Won
    • 1
  • Sebum Chun
    • 2
  • Seung-Woo Lee
    • 3
  • Sangkyung Sung
    • 4
  • Jiyun Lee
    • 5
  • Jeongrae Kim
    • 6
  • Young Jae Lee
    • 4
  1. 1.Colorado Center for Astrodynamics ResearchUniversity of Colorado at Boulder, 431 UCBBoulderUSA
  2. 2.Division of Satellite NavigationKorea Aerospace Research InstituteDaejeonKorea
  3. 3.School of Environmental SciencePusan National UniversityBusanKorea
  4. 4.Department of Aerospace Information EngineeringKonkuk UniversitySeoulKorea
  5. 5.Department of Aerospace EngineeringKorea Advanced Institute of Science and TechnologyDaejeonKorea
  6. 6.School of Aerospace and Mechanical EngineeringKorea Aerospace UniversityGoyang-city, Gyonggi-doKorea

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